We now introduce a modifier in URBI that makes it possible to do cyclic moves of sinusoidal shape. This modifier has the particularity to make the assignation never terminate. To be able to enter new commands after this modifier is used, you need to put this command in background so that the URBI server continues processing new commands. This is achieved by terminating the command with a comma instead a semicolon. More details about these command separators will be given in the section called “Parallelism”

The sinus modifier can be used this way :

  mytag:wheels.speed = 0 sin:10s ampli:100,

This command will make the speed of the wheels oscillate around 0, between -100 et 100 with a period of 10s. Use a tag to be able to stop the command. To make the speed change from 0 to 100 with a period of 3 seconds, use the command:

  tag2:wheels.speed = 50 sin:3s ampli:50,